class PlayerMoveSignal(QObject):
def __init__(self, parent):
super(PlayerMoveSignal, self).__init__()
self.game = parent
self.sig = Signal(str)
self.eventLoop = QEventLoop(self)
self.data = None
@Slot(str)
def stop_waiting(self, data):
self.data = data
self.eventLoop.exit()
return
def wait_for_move(self):
self.eventLoop.exec_()
return self.data
class BatchProcessor():
signals = signal.signalClass()
GeneralEventLoop = None
SnapshotEventLoop = None
SnapshotTaken = False
is_active = False
well_positioner = None
Well_Map = None
Well_Targets = None
ID = str
info = str
duration = 0
interleave = 0
start_time = 0
end_time = 0
logging = True
## @brief BatchProcessor()::__init__ sets the batch settings
## @param well_controller is the well positioning class instance used to position the wells under the camera.
## @param well_map is the list of target wells with their positions in mm of both row and column.
## @param well_targets is the list of the target wells with their column and row index positions and ID.
## @param ID is the batch ID.
## @param info is the batch information.
## @param dur is the batch duration.
## @param interl is the time between the photographing of each well.
def __init__(self, well_controller, well_map, well_targets, ID, info, path,
dur, interl):
#super().__init__()
self.is_active = False
self.well_positioner = well_controller
self.Well_Map = well_map
self.Well_Targets = well_targets
self.batch_id = ID
self.batch_info = info
self.duration = dur
self.interleave = interl
self.path = os.path.sep.join([path, ID])
if not os.path.exists(self.path):
os.makedirs(self.path)
## @brief BatchProcessor()::msg emits the message signal. This emit will be catched by the logging slot function in main.py.
## @param message is the string message to be emitted.
@Slot(str)
def msg(self, message):
if message:
self.signals.mes.emit(self.__class__.__name__ + ": " +
str(message))
return
## @brief BatchProcessor()::updateBatchSettings(self, well_data, ID, info, dur, interl) can be called to update the batch settings during runtime.
## @todo well_data update in MainWindow.
## @depricated, BatchProcessor::updateBatchSettings not in use yet. Function might be usefull when updating the batch.ini via the GUI.
## @param well_data is the list of target wells with their positions/indexes.
## @param ID is the batch ID.
## @param info is the batch information.
## @param dur is the batch duration.
## @param interl is the time between the photographing of each well.
def updateBatchSettings(self, well_map, well_targets, ID, info, dur,
interl):
self.is_active = False
self.Well_Map = well_map
self.Well_Targets = well_targets
self.batch_id = ID
self.batch_info = info
self.duration = dur
self.interleave = interl
return
## @brief BatchProcessor()::startBatch(self) starts the batch process by setting the current (start)time and the endtime.
## It disables the manual motor control and emits the batch_active signal
## @todo call updateBatchSettings function
@Slot()
def startBatch(self):
self.start_time = current_milli_time()
self.end_time = current_milli_time() + (self.duration * 1000)
self.well_positioner.reset_current_well()
self.signals.batch_active.emit()
self.is_active = True
self.msg("Batch process initialized and started with:\n\tDuration: " +
str(self.duration) + "\n\tInterleave: " +
str(self.interleave) + "\n\tStart_time: " +
str(self.start_time) + "\n\tEnd_time: " + str(self.end_time))
print("Batch process initialized and started with:\n\tDuration: " +
str(self.duration) + "\n\tInterleave: " + str(self.interleave) +
"\n\tStart_time: " + str(self.start_time) + "\n\tEnd_time: " +
str(self.end_time))
self.runBatch()
return
## @brief BatchProcessor()::runBatch(self) runs the batch after it is started.
## @note the interleave is actually the interleave + processingtime of the "for target in self.Well_Targets:" loop
def runBatch(self):
if self.logging:
recording_file_name = os.path.sep.join(
[self.path, 'batch_positioning_results.csv'])
recording_file = open(recording_file_name, "w")
# build csv file heading
record_str = "run_start_time, run_time,"
for target in self.Well_Targets:
record_str += ',' + str(
self.Well_Map[target[0][1]][1][1]) + ',' + str(
self.Well_Map[1][target[0][0]][0])
recording_file.write(record_str + "\n")
else:
recording_file = None
first_run = True
while True:
print("BatchProcessor thread check: " +
str(QThread.currentThread()))
## Run start time
run_start_time = current_milli_time()
actual_postions = []
# Home first on avery run
self.well_positioner.stepper_control.homeXY()
for target in self.Well_Targets:
if not self.is_active:
self.signals.batch_inactive.emit()
self.msg("Batch stopped.")
print("Batch stopped.")
return
else:
row = target[0][0]
column = target[0][1]
self.msg("Target: " + str(target[0][2]))
## print("Target: at (" + str(self.Well_Map[column][1][1]) + ", " + str(self.Well_Map[1][row][0]) +")" + ", first run: " + str(first_run))
if (self.well_positioner.goto_well(
self.Well_Map[column][1][1],
self.Well_Map[1][row][0],
first_run)): ## if found well
self.snapshot_request(
str(self.batch_id) + "/" + str(target[0][2]))
(self.Well_Map[1][row][0], self.Well_Map[column][1][1]
) = self.well_positioner.get_current_well()
print(" Target adapted to (" +
str(self.Well_Map[column][1][1]) + ", " +
str(self.Well_Map[1][row][0]) + ")")
actual_postions.append(
self.well_positioner.get_current_well())
while self.SnapshotTaken is False:
if not self.is_active:
self.signals.batch_inactive.emit()
#self.msg("Batch stopped, breaking out of SnapshotTaken is False while loop.")
print(
"Batch stopped, breaking out of SnapshotTaken is False while loop."
)
return
print("Waiting in snapshot loop")
self.wait_ms(50)
self.msg(str(target) + " finished.")
print(str(target) + " finished.")
if self.end_time < current_milli_time():
self.msg("batch completed")
print("batch completed")
self.signals.batch_inactive.emit()
self.stopBatch()
return
else:
self.msg("Remaining time " +
str(self.end_time - current_milli_time()))
print("Remaining time " +
str(self.end_time - current_milli_time()) + " ms")
# first run is completed, remove this statemant to adapt to well-position in stead of feedforward
if actual_postions:
first_run = False
run_time = current_milli_time() - run_start_time
self.msg("Run time: " + str(run_time))
print("Run time: " + str(run_time) + "\nWaiting for " +
str(self.interleave * 1000 - run_time) + " ms")
if self.interleave * 1000 - run_time < 0:
self.msg(
"To short interleave, please increase the interleave to at least: "
+ str(run_time))
print(
"To short interleave, please increase the interleave to at least: "
+ str(run_time))
else:
## Wait for the specified interleave minus the run_time of one run
self.msg("Waiting for: " +
str(self.interleave * 1000 - run_time) + " ms")
print("Waiting for: " +
str(self.interleave * 1000 - run_time) + " ms")
self.wait_ms(self.interleave * 1000 - run_time)
if recording_file:
record_str = str(run_start_time) + ',' + str(run_time)
for actual_position in actual_postions:
record_str += ',' + str(actual_position[0]) + ',' + str(
actual_position[1])
print(record_str)
recording_file.write(record_str + "\n")
if recording_file:
recording_file.close()
#self.msg("Breaking out batch process")
print("Finishing batch process")
return
## @brief BatchProcessor()::wait_ms(self, milliseconds) is a delay function.
## @param milliseconds is the number of milliseconds to wait.
def wait_ms(self, milliseconds):
self.GeneralEventLoop = QEventLoop()
QTimer.singleShot(milliseconds, self.GeneralEventLoop.exit)
self.GeneralEventLoop.exec_()
return
## @brief BatchProcessor()::snapshot_request(self, message) emits the self.signals.snapshot_requested signal.
## @param message is the pathname of the desired snapshot
def snapshot_request(self, message):
self.msg("Requesting snapshot")
self.signals.snapshot_requested.emit(message)
self.snapshot_await()
return
## @brief StepperWellPositioning()::snapshot_await(self) runs an eventloop while the new snapshot is not stored in self.image yet.
def snapshot_await(self):
self.SnapshotTaken = False
while self.is_active and not self.SnapshotTaken:
#self.msg("Waiting for snapshot")
self.SnapshotEventLoop = QEventLoop()
QTimer.singleShot(10, self.SnapshotEventLoop.exit)
self.SnapshotEventLoop.exec_()
return
@Slot()
def snapshot_confirmed(self):
self.SnapshotTaken = True
if not (self.SnapshotEventLoop is None):
self.SnapshotEventLoop.exit()
return
## @brief BatchProcessor()::stopBatch is a slot function which is called when the button stopBatch is pressed on the MainWindow GUI.
## It stops the batch process and resets the wait eventloop if running.
@Slot()
def stopBatch(self):
#self.msg("Stopping Batch process")
print("Stopping Batch process")
self.signals.batch_inactive.emit()
self.signals.process_inactive.emit(
) ## Used to stop positioning process of function StepperWellPositioning::goto_target
self.is_active = False
self.snapshot_confirmed()
if not (self.GeneralEventLoop is None):
self.GeneralEventLoop.exit()
print("Exit BatchProcessor::GeneralEventloop")
if not (self.SnapshotEventLoop is None):
self.SnapshotEventLoop.exit()
print("Exit BatchProcessor::SnapshotEventLoop")
return
@Slot()
def close(self):
self.stopBatch()
return
class StepperWellPositioning():
signals = signal.signalClass()
process_activity = False
stepper_control = None ## object StepperControl instance
current_well_row = None
current_well_column = None
Stopped = True
GeneralEventLoop = None
SnapshotEventLoop = None
SnapshotTaken = False
image = np.ndarray
image_area = None
WPE = None
WPE_target = None
WPE_targetRadius = None
Well_Map = None
diaphragm_diameter = 12.0 ## mm
## @brief StepperWellPositioning()::__init__ initialises the stepper objects for X and Y axis and initialises the gcodeSerial to the class member variable.
## @param steppers is the StepperControl object representing the X- and Y-axis
## @param Well_data contains the target well specified by the user in the batch.ini file
def __init__(self, steppers, Well_data, record_path):
self.stepper_control = steppers
self.Well_Map = Well_data
log_fine_tuning = False if record_path is None else True
self.path = record_path
return
## @brief StepperWellPositioning()::msg emits the message signal. This emit will be catched by the logging slot function in main.py.
## @param message is the string message to be emitted.
@Slot(str)
def msg(self, message):
if message is not None:
self.signals.mes.emit(self.__class__.__name__ + ": " +
str(message))
return
## @brief StepperWellPositioning()::reset_current_well(self) sets the current well position (XY) to None
def reset_current_well(self):
self.set_current_well(None, None)
return
## @brief StepperWellPositioning()::set_current_well(self) sets the current well position.
## @param column is the column or x well coordinate
## @param row is the row or y well coordinate
def set_current_well(self, column, row):
self.current_well_column = column
self.current_well_row = row
return
## @brief StepperWellPositioning()::get_current_well(self) is the well position getter.
## @return current_well_column (x position in mm from home) and current_well_row (y position in mm from home).
def get_current_well(self):
if self.current_well_column == None or self.current_well_row == None:
self.current_well_column = None
self.current_well_row = None
return self.current_well_column, self.current_well_row
## @brief StepperWellPositioning()::wait_ms(self, milliseconds) is a delay function.
## @param milliseconds is the number of milliseconds to wait.
def wait_ms(self, milliseconds):
GeneralEventLoop = QEventLoop()
QTimer.singleShot(milliseconds, GeneralEventLoop.exit)
GeneralEventLoop.exec_()
return
## @brief StepperWellPositioning()::goto_well(self, row, column):
## @author Robin Meekers
## @author Gert van Lagen (ported to new prototype which makes use of the Wrecklab PrintHAT)
@Slot()
def goto_well(self, row, column, adapt_to_well=False):
print("In goto_well function")
print(" adapt to well is " + str(adapt_to_well))
## self.stepper_control.enableMotors()
self.signals.process_active.emit()
self.Stopped = False
self.stepper_control.setLightPWM(1.0)
## If the Well Position Evaluator is not initialized.
if self.WPE is None:
## define the resolution of the received images to be entered into the evaluator.
self.snapshot_request()
self.snapshot_await()
self.WPE_target = (int(self.image.shape[1] / 2),
int(self.image.shape[0] / 2))
self.WPE = imageProcessor.WellPositionEvaluator(
(self.image.shape[0], self.image.shape[1]))
self.msg("Current well: " + str(self.get_current_well()))
current_row, current_column = self.get_current_well()
## Position unknown
if current_row is None or current_column is None:
## Need to go to home position first
self.msg("Current position unknown. Moving to home...")
self.stepper_control.homeXY()
## If homing is succeeded and confirmed by the STM of the Wrecklab PrintHAT
if self.stepper_control.homing_confirmed:
self.image = None
self.snapshot_request()
self.snapshot_await()
self.wait_ms(
1000) ## Wait for the snapshot to be stored in self.image
## Arrived at home, move to first well.
## The exact centre of the image can more easily be determined at the home position,
## as there is no distortion in the image by light refracting.
self.msg("Looking for light source...")
WPE_Error = self.WPE.evaluate(self.image, (int(
self.image.shape[1] / 2), int(self.image.shape[0] / 2)))
self.msg("Found light-source at: (" + str(WPE_Error[0][0]) +
" | " + str(WPE_Error[0][1]) + "). Radius: " +
str(WPE_Error[2]))
self.WPE_targetRadius = WPE_Error[2]
self.WPE_target = (int(self.image.shape[1] / 2) +
WPE_Error[0][0],
int(self.image.shape[0] / 2) +
WPE_Error[0][1])
self.msg("WPE_target: " + str(self.WPE_target[0]) + " | " +
str(self.WPE_target[1]))
self.signals.target_located.emit(
(self.WPE_target[0], self.WPE_target[1],
self.WPE_targetRadius))
self.WPE.circle_minRadius = int(
self.WPE_targetRadius * 0.8
) ## Roughly the amount remaining if the target is on the edge between wells.
self.WPE.circle_maxRadius = int(
self.WPE_targetRadius
) ## The well can never be larger than the diaphragm of the light source.
## ## Homing succeeded, light source found, lets move to the first target of Well_map
## self.set_current_well(column, row)
## self.stepper_control.moveToWell(column, row)
self.signals.first_move.emit()
else:
return False
## position known
if self.process_activity:
# JV: column and row is probably X and Y in Robin's functions, also in Gert's functions?
self.stepper_control.moveToWell(column, row)
## Wait for ms depending on moving distance, JV:why?
if self.current_well_column is None or self.current_well_row is None:
dist = 60
else:
dist = math.sqrt(
float(
abs(float(column) - float(self.current_well_column)) *
abs(float(column) - float(self.current_well_column))) +
float(
abs(float(row) - float(self.current_well_row)) *
abs(float(row) - float(self.current_well_row))))
self.msg("Moving distance: " + str(dist))
if dist < 20:
self.msg("Delay: 1999ms | dist: " + str(dist) + "mm")
self.wait_ms(1999)
elif dist < 50:
self.msg("Delay: 3999ms | dist: " + str(dist) + "mm")
self.wait_ms(3999)
elif dist < 70:
self.msg("Delay: 5999ms | dist: " + str(dist) + "mm")
self.wait_ms(5999)
elif dist < 85:
self.msg("Delay: 8999ms | dist: " + str(dist) + "mm")
self.wait_ms(8999)
elif dist > 85:
self.msg("Delay: 11999ms | dist: " + str(dist) + "mm")
self.wait_ms(11999)
else:
self.msg("Delay: 4999ms | Unknown dist: " + str(dist) + "mm")
self.wait_ms(4999)
self.set_current_well(column, row)
print(
str(self.WPE_target[0]) + " | " + str(self.WPE_target[1]) +
" first run " + str(adapt_to_well))
if adapt_to_well:
self.goto_target()
else:
self.wait_ms(
2000) ## Wait for the snapshot to be stored in self.image
self.msg("Well positioning succeeded.")
## Manual confirmation needed. STM is too fast for the software to catch the last confirmation.
self.stepper_control.move_confirmed = True
## if not self.goto_target():
## self.msg("Well positioning not succeeded.")
## self.set_current_well(None, None) ## Never reached reference point
## self.Stopped = True
## self.signals.process_inactive.emit()
##
## ## Manual confirmation needed. STM is too fast for the software to catch the last confirmation.
## self.stepper_control.move_confirmed = True
## return False
## else:
## self.msg("Well positioning succeeded.")
## ## Manual confirmation needed. STM is too fast for the software to catch the last confirmation.
## self.stepper_control.move_confirmed = True
else:
print(
"Positioning process inactive, cannot call goto_target positioning controller function."
)
self.msg(
"Positioning process inactive, cannot call goto_target positioning controller function."
)
## Different row?
if row != self.current_well_row or column != self.current_well_column:
self.msg("moving from: (" + str(self.current_well_row) + " | " +
str(self.current_well_column) + ") to: (" + str(row) +
" | " + str(column) + ")")
## why can we not re-enable motors during steps? Because M17 is not implemented by Klipper
## self.stepper_control.disableMotors()
self.stepper_control.setLightPWM(0.0)
return True
## @brief StepperWellPositioning()::goto_target(self) evaluates the target circle using class Well_Position_Evaluator, updates the snapshot,
## and corrects the position of the well while not aligned with the light source.
def goto_target(self):
loops_ = 0
error_count = 0
WPE_Error = None
new_column = 0
new_row = 0
error_threshold = 100 #50#120 # higher number means lower error...
resolution = self.diaphragm_diameter / self.WPE_targetRadius # [mm/px]
run_start_time = current_milli_time()
if self.path is not None:
column, row = self.get_current_well()
log_file_name = '_'.join([
str(run_start_time), 'goto_target',
str(round(column)),
str(round(row))
])
recording_file_name = os.path.sep.join([self.path, log_file_name])
recording_file = open(recording_file_name, "w")
record_str = "run_time, WPE_target[0], WPE_target[1], WPE_Error[0][0], WPE_Error[0][1]"
recording_file.write(record_str + "\n")
else:
recording_file = None
## Do while the well is not aligned with the light source.
while True:
if (self.stepper_control.move_confirmed):
if not self.process_activity:
#self.msg("!Returning from alignment controller loop in StepperWellPositioning::goto_target")
print(
"!Returning from alignment controller loop in StepperWellPositioning::goto_target"
)
return False
## Wait for image to stabilize and request new snapshot
self.wait_ms(2000)
self.snapshot_request()
## Wait for snapshot to be stored in self.image
self.wait_ms(1000)
## Evaluate current wellposition relative to the light source.
WPE_Error = self.WPE.evaluate(self.image, self.WPE_target)
self.msg("WPE target at (" + str(self.WPE_target[0]) + " | " +
str(self.WPE_target[1]) + ")")
## Area error, surface smaller or equal to 0
if WPE_Error[1] <= 0:
self.msg(
"Possibly something wrong with captured frame, retry with another snapshot"
)
error_count = error_count + 1
if (error_count >= 3):
self.msg("Error_count = " + str(error_count))
return False
continue
else:
self.msg("Well found at offset (" + str(WPE_Error[0][0]) +
" | " + str(WPE_Error[0][1]) + ")")
self.signals.well_located.emit(
(self.WPE_target[0] + WPE_Error[0][0],
self.WPE_target[1] + WPE_Error[0][1], WPE_Error[2]))
# ## Some
# error_count = 0
# if (abs(WPE_Error[0][0]-30) < (self.image.shape[0] / error_threshold) and abs(WPE_Error[0][1]+30) < (self.image.shape[0] / error_threshold)) or (loops_ >20): ## No more adjustments to make or system is oscilating
# if loops_ > 20:loops_
# self.msg("More than 20 correction loops, return False")
# return False
# self.msg("Returning from positioner controller, loops: " + str(loops_))
# return True
## Define controller variables for column and row | x and y.
## new_column = float(WPE_Error[0][0]) / ((loops_+1)*20.0)
## new_row = float(WPE_Error[0][1]) / ((loops_+1)*15.0)
## column, row = self.get_current_well()
run_time = current_milli_time() - run_start_time
if recording_file is not None:
record_str = str(run_time) + ',' + str(
self.WPE_target[0]) + ',' + str(
self.WPE_target[1]) + ',' + str(
WPE_Error[0][0]) + ',' + str(WPE_Error[0][1])
recording_file.write(record_str + "\n")
error = np.sqrt(WPE_Error[0][0]**2 + WPE_Error[0][1]**2)
threshold = min(self.image.shape[0:1]) / error_threshold
print(" well placement error: {}, while acceptable error:{}".
format(error, threshold))
if error > threshold:
# Decrease stepsize on each iteration for smooth convergence
new_column = float(
WPE_Error[0][0]) * resolution / (loops_ + 1)
new_row = float(
WPE_Error[0][1]) * resolution / (loops_ + 1)
column, row = self.get_current_well()
new_column += column
new_row += row
new_column = round(new_column, 1)
new_row = round(new_row, 1)
self.stepper_control.moveToWell(new_column, new_row)
self.set_current_well(new_column, new_row)
else:
break
loops_ += 1
if loops_ > 5:
self.msg("Too many correction loops, giving up")
break
if not self.process_activity:
#self.msg("Returning from alignment controller loop in StepperWellPositioning::goto_target")
print(
"Returning from alignment controller loop in StepperWellPositioning::goto_target"
)
return False
if recording_file:
recording_file.close()
return True
## @brief StepperWellPositioning()::snapshot_request(self) emits the snapshot_request signal
def snapshot_request(self):
self.signals.snapshot_requested.emit(str((1, 1)))
## @brief StepperWellPositioning()::snapshot_awiat(self) runs an eventloop while the new snapshot is not stored in self.image yet.
def snapshot_await(self):
self.SnapshotTaken = False
while not self.Stopped and not self.SnapshotTaken:
self.SnapshotEventLoop = QEventLoop()
QTimer.singleShot(10, self.SnapshotEventLoop.exit)
self.SnapshotEventLoop.exec_()
## @brief StepperWellPositioning()::snapshot_confirmed(self, snapshot) exits the event loop of snapshot_await when the new image is arived.
## It updates the self.image variable with the new variable and defines the image area and WPE_target.
@Slot(np.ndarray)
def snapshot_confirmed(self, snapshot):
self.image = snapshot
# self.WPE_target = (int(self.image.shape[1] / 2), int(self.image.shape[0] / 2))
self.image_area = int((self.image.shape[0] * self.image.shape[1]))
self.SnapshotTaken = True
if not (self.SnapshotEventLoop is None):
self.SnapshotEventLoop.exit()
return
## @brief StepperWellPositioning()::setProcessInactive(self) disables the positionings process if the signal is emitted.
@Slot()
def setProcessInactive(self):
#self.msg("Disabled positioning process activity")
print("Disabled positioning process activity")
self.process_activity = False
self.Stopped = True
if not (self.GeneralEventLoop is None):
self.GeneralEventLoop.exit()
#self.msg("Exit StepperWellPositioning::GeneralEventloop")
print("Exit StepperWellPositioning::GeneralEventloop")
if not (self.SnapshotEventLoop is None):
self.SnapshotEventLoop.exit()
#self.msg("Exit StepperWellPositioning::SnapshotEventLoop")
print("Exit StepperWellPositioning::SnapshotEventLoop")
return
## @brief StepperWellPositioning()::setProcessActive(self) enables the positionings process if the signal is emitted.
@Slot()
def setProcessActive(self):
self.process_activity = True
self.Stopped = False
return
@Slot()
def close(self):
self.stepper_control.setLightPWM(0.0)
self.stepper_control.setFanPWM(0.0)
self.process_activity = False
self.Stopped = True
return
